forked from bartvdbraak/blender
124 lines
2.5 KiB
C++
124 lines
2.5 KiB
C++
#ifndef TOI_CONTACT_DISPATCHER_H
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#define TOI_CONTACT_DISPATCHER_H
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#include "BroadphaseCollision/CollisionDispatcher.h"
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#include "NarrowPhaseCollision/PersistentManifold.h"
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#include "CollisionDispatch/UnionFind.h"
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#include "BroadphaseCollision/BroadphaseProxy.h"
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class ConstraintSolver;
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class IDebugDraw;
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//island management
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#define ACTIVE_TAG 1
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#define ISLAND_SLEEPING 2
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#define WANTS_DEACTIVATION 3
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struct CollisionAlgorithmCreateFunc
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{
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bool m_swapped;
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CollisionAlgorithmCreateFunc()
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:m_swapped(false)
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{
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}
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virtual CollisionAlgorithm* CreateCollisionAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
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{
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return 0;
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}
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};
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#include <vector>
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///ToiContactDispatcher (Time of Impact) is the main collision dispatcher.
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///Basic implementation supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
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///Time of Impact, Closest Points and Penetration Depth.
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class ToiContactDispatcher : public Dispatcher
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{
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bool m_useIslands;
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std::vector<PersistentManifold*> m_manifoldsPtr;
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UnionFind m_unionFind;
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ConstraintSolver* m_solver;
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float m_sor;
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float m_tau;
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float m_damping;
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CollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
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public:
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UnionFind& GetUnionFind() { return m_unionFind;}
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// int m_firstFreeManifold;
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// const PersistentManifold* GetManifoldByIndexInternal(int index)
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// {
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// return &m_manifolds[index];
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// }
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int GetNumManifolds() { return m_manifoldsPtr.size();}
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PersistentManifold* GetManifoldByIndexInternal(int index)
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{
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return m_manifoldsPtr[index];
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}
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void InitUnionFind()
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{
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if (m_useIslands)
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m_unionFind.reset();
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}
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void FindUnions();
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int m_count;
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ToiContactDispatcher (ConstraintSolver* solver);
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virtual PersistentManifold* GetNewManifold(void* b0,void* b1);
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virtual void ReleaseManifold(PersistentManifold* manifold);
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//
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// todo: this is random access, it can be walked 'cache friendly'!
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//
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virtual void SolveConstraints(float timeStep, int numIterations,int numRigidBodies,IDebugDraw* debugDrawer);
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CollisionAlgorithm* FindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
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{
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CollisionAlgorithm* algo = InternalFindAlgorithm(proxy0,proxy1);
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return algo;
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}
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CollisionAlgorithm* InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
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virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
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void SetSor(float sor)
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{
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m_sor = sor;
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}
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void SetTau(float tau)
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{
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m_tau = tau;
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}
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void SetDamping( float damping)
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{
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m_damping = damping;
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}
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};
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#endif //TOI_CONTACT_DISPATCHER_H
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